CN110431741A - The control device of rotating electric machine - Google Patents
The control device of rotating electric machine Download PDFInfo
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- CN110431741A CN110431741A CN201780087546.7A CN201780087546A CN110431741A CN 110431741 A CN110431741 A CN 110431741A CN 201780087546 A CN201780087546 A CN 201780087546A CN 110431741 A CN110431741 A CN 110431741A
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- electric machine
- rotating electric
- position estimating
- current
- rotor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The control device of rotating electric machine (1) is characterized in that having: current detector (2), detects the rotating electric machine electric current flowed through in rotating electric machine (1)；Position estimating device (4), the rotor-position of rotating electric machine (1) is speculated based on rotating electric machine electric current；Controller (5), information based on rotating electric machine electric current and rotor-position, for driving the driving voltage of rotating electric machine (1) to instruct, exports rotating electric machine voltage instruction obtained from being added the position estimating voltage instruction of each phase for the rotating electric machine (1) for being used to speculate rotor-position with driving voltage instruction come operation；And voltage applicator (3), voltage is applied to rotating electric machine (1) based on rotating electric machine voltage instruction, wherein, position estimating device (4) extracts position estimating electric current including in rotating electric machine electric current, changing by position estimating voltage instruction, and the rotor-position of rotating electric machine (1) is speculated according to the DC component not changed by rotor-position in the amplitude of the position estimating extracted electric current.
Description
Technical field
The present invention relates to the control device of rotating electric machine, the control device of the rotating electric machine is without using detecting the rotation of rotor
The position sensor that indexing is set can obtain rotor position information and control rotating electric machine.
Background technique
Due to needing the location information of rotor to drive rotating electric machine, the control device of previous rotating electric machine
Using the location information detected by the position sensor for being installed on rotating electric machine, but from the manufacture for further decreasing rotating electric machine
Cost from the perspective of minimizing rotating electric machine and improving the reliability of rotating electric machine, has developed with position sensorless
The mode of device drives the technology of rotating electric machine.As the method for controlling position-less sensor of rotating electric machine, mainly has and utilize rotation
The induced voltage of motor come speculate the method for the position of rotating electric machine and speculated using saliency rotating electric machine position side
Method.In the method using induced voltage, since the size of induced voltage is proportional to rotation speed, so in zero-speed or low speed
Induced voltage becomes smaller in region, and signal-to-noise ratio reduces, and position estimating becomes difficult.In utilizing saliency method, although necessary
Position estimating signal for speculating the position of rotating electric machine is inputted to rotating electric machine, but even if in zero-speed or low-speed region
Also it can speculate the position of rotating electric machine.
Patent Document 1 discloses saliency method for controlling position-less sensor is utilized, in the position-sensor-free
In control method, to the voltage superposition position estimating voltage of each phase of driving rotating electric machine, extract and rotating electric machine electric current
High-frequency current, the i.e. position estimating of the identical frequency of frequency carries out position estimating with electric current.Specifically, in patent document 1
In disclosed method for controlling position-less sensor, the amplitude of high-frequency current is calculated, is with rotor-position electricity using the amplitude
The case where cosine function or SIN function of 2 overtones bands at angle, speculates rotor-position.Voltage as described above to each phase is folded
Add position estimating and carries out the mode of position estimating with voltage referred to as " phase voltage stacked system ".In phase voltage stacked system,
Due to can be according to the direct operation computed position of high-frequency current, so the response of position estimating is fast.In addition, when in rotating electric machine
Phase voltage stacked system is also able to use in the case where converting in drive control without rotating coordinate transformation, i.e. d-q.In patent
Fourier transformation is utilized in document 1, and in the control device of rotating electric machine disclosed Patent Document 2, high frequency is utilized
The quadratic sum integrated value of electric current and reduce operand.The control device and patent document 2 of whirler disclosed Patent Document 3
Similarly superposed positions supposition is speculated with voltage in rotational coordinates.But whirler disclosed Patent Document 3
Control device carries out position estimating by making the apposition of position estimating voltage and high-frequency current converge on zero.It will revolve in this way
Turn superposed positions supposition in coordinate and carries out the mode of position estimating with voltage referred to as " rotational coordinates voltage superposition mode ".
However, magnetic saturation degree is according to the level of torque of rotating electric machine, i.e. basis using in saliency position estimating
The state of load and change, there are following technical tasks: the error of the position and physical location that deduce is due to magnetic saturation degree
Become larger and becomes larger.For the technical task, the magnetic pole position estimation method of synchronous motor disclosed Patent Document 4 is according to rotation
Computed position is corrected in the torque of rotating motor.But sometimes when magnetic saturation degree becomes larger, the saliency disappearance of rotating electric machine and
It can not carry out position estimating.For the technical task, in patent document 3, position is superimposed in each axis of the d-q axis of rotational coordinates
Set the high-frequency current i that d-q axis is extracted in supposition with voltage respectivelydhWith high-frequency current iqh, according to by high-frequency current idhAnd high-frequency electrical
Flow iqhValue obtained from combination carries out position estimating.
Prior art document
Patent document
Patent document 1: No. 5069306 bulletins of Japanese Patent No.
Patent document 2: No. 5324646 bulletins of Japanese Patent No.
Patent document 3: No. 5145850 bulletins of Japanese Patent No.
Patent document 4: No. 4687846 bulletins of Japanese Patent No.
Summary of the invention
Invent technical task to be solved
But magnetic pole position estimation method disclosed Patent Document 3 needs each axis in the d-q axis of rotational coordinates folded
Add position estimating to extract the high-frequency current i.e. position estimating electric current of d-q axis respectively with voltage, and then combines them.Cause
This, there are problems that improve supposition precision when magnetic saturation and calculated load increases.In addition, due to patent document 3 and specially
The magnetic pole position estimation method of sharp document 4 is all based on rotational coordinates voltage superposition mode, so needing to receive for position estimating
Hold back operation, thus it is speculated that low-response, it can't be suitable for the mode of the drive control of progress rotating electric machine not rotational coordinates.
The present invention has been made in view of the above-described circumstances, it is therefore intended that even if obtaining one kind is producing magnetically saturated situation
Under be also able to suppress calculated load increase and improve rotor-position supposition precision rotating electric machine control device.
Solve the technical solution of technical task
In order to solve above-mentioned technical task and achieve the goal, the control device of rotating electric machine of the invention is characterized in that,
Have: current detector detects the rotating electric machine electric current flowed through in rotating electric machine；Position estimating device, it is electromechanical based on electric rotating
Stream speculates the rotor-position of rotating electric machine；Controller, the information based on rotating electric machine electric current and rotor-position are used for come operation
The driving voltage instruction for driving rotating electric machine, exports rotating electric machine voltage instruction, which is that will be used to push away
It surveys the position estimating voltage instruction of each phase of the rotating electric machine of rotor-position and driving voltage instructs obtained from being added；And
Voltage applicator applies voltage to rotating electric machine based on rotating electric machine voltage instruction, wherein position estimating device extracts rotating electric machine
Position estimating electric current including in electric current, changing by position estimating voltage instruction, according to the position estimating extracted
The rotor-position of rotating electric machine is speculated with the DC component not changed by rotor-position in the amplitude of electric current.
Invention effect
According to the present invention, it plays following effect: being able to suppress calculated load even if producing in magnetically saturated situation
Increase, and improve the supposition precision of rotor-position.
Detailed description of the invention
Fig. 1 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 1.
Fig. 2 is the figure for showing the position estimating voltage instruction exported from position estimating voltage generator shown in FIG. 1.
Fig. 3 is the figure for showing the structure of position estimating device of embodiments of the present invention 1.
Fig. 4 is to illustrate that the track of the saliency high-frequency current of rotating electric machine and be powered with specific Conduction angle
The figure of the variation of the track of high-frequency current.
Fig. 5 is the figure for showing the relationship of the DC component of rotor-position and high-frequency current of rotating electric machine.
Fig. 6 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 2.
Fig. 7 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 3.
Fig. 8 is the figure for showing the structure of position estimating device of embodiments of the present invention 3.
Fig. 9 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 4.
Figure 10 is the figure for showing the structure of position estimating device of embodiments of the present invention 4.
Figure 11 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 5.
Figure 12 is the figure for showing the structure of position estimating device of embodiments of the present invention 5.
Figure 13 is the first hardware configuration example for showing the control device of the rotating electric machine of embodiments of the present invention 1 to 5
Figure.
Figure 14 is the second hardware configuration example for showing the control device of the rotating electric machine of embodiments of the present invention 1 to 5
Figure.
Appended drawing reference
1 rotating electric machine, 2 current detectors, 3 voltage applicators, 4,4B, 4C, 4D position estimating device, 5,5A, 5B controller,
6,21 current-order arithmetic unit, 7d-q current controller, 8 rotational coordinates inverse converters, 9 two-phases-three-phase inverter, 10,10B
Set supposition voltage generator ,-two phasing commutator of 11 three-phase, 12 rotating coordinate transformation devices, 13 adders, 22 three-phase current operations
Device, 23 three-phase current controllers, 60 dedicated processes circuits, 61 processors, 62 storage devices, 100,100A, 100B, 100C,
100D control device, 401,3001 high-frequency current extractors, 402,402B DC component extractor, 403,403B, 403C, 5001
Computed position arithmetic unit, 3002 high-frequency current amplitude arithmetic units, 4001 phase current amplitude arithmetic units, 4002 DC component target values
Arithmetic unit, 5000 subtracters, 5002 computed position switch.
Specific embodiment
Hereinafter, being described in detail based on control device of the attached drawing to the rotating electric machine of embodiments of the present invention.In addition,
The present invention is not limited by the embodiment.
Embodiment 1
Fig. 1 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 1.Hereinafter, sometimes will
" control device of rotating electric machine " is referred to as " control device ".Control device 100 shown in FIG. 1 has: voltage applicator 3 is pressed
According to rotating electric machine voltage instruction vu *、vv *、vw *Supply AC power；Current detector 2, detection is from voltage applicator 3 to electric rotating
The alternating current that machine 1 supplies, the alternating current output that will test out is rotating electric machine electric current iu、iv、iw；Position estimating device 4, makes
With the rotating electric machine electric current i detected by current detector 2u、iv、iwCarry out operation computed position θ ^r；And controller 5, so that
The output torque of rotating electric machine 1 becomes by torque instruction value T*The electric rotating of the mode operation driving rotating electric machine 1 of the value of instruction
Machine voltage instruction vu *、vv *、vw *。
Controller 5 has current-order arithmetic unit 6, d-q current controller 7, rotational coordinates inverse converter 8, two-phase-three-phase
Converter 9, position estimating voltage generator 10 ,-two phasing commutator 11 of three-phase, rotating coordinate transformation device 12 and adder
13。
Rotating electric machine 1 is the saliency three-phase synchronous reluctance motor to generate torque using rotor.Rotating electric machine 1 is connected
It is connected to voltage applicator 3, current detector 2 is provided between rotating electric machine 1 and voltage applicator 3.
Current-order arithmetic unit 6 uses torque instruction value T*, current-order i on operation rotational coordinatesd *、iq *.Electric current refers to
Arithmetic unit 6 is enabled so as to become least way operation current instruction i relative to the current effective value of torque, i.e. copper lossd *、iq *.Electricity
Stream instruction id *It is to indicate that the magnetic resistance of the rotor of rotating electric machine 1 becomes the d shaft current of the armature supply component of the smallest d axis direction
Instruction.Current-order iq *It is the finger for indicating the q shaft current of armature supply component of the q axis direction as the direction orthogonal with d axis
It enables.In current-order id *、iq *Operation in, in addition to torque instruction value T*In addition, the motor constant of rotating electric machine 1 is also used.Make
For motor constant, the mutual inductance of rotating electric machine 1 and the number of poles of rotating electric machine 1 can be illustrated.In addition, can not use motor constant yet
And use the relational expression or table of the current-order and torque found out in advance.
- two phasing commutator 11 of three-phase is by the rotating electric machine electric current i in three phase coordinates detected by current detector 2u、iv、
iwThe rotating electric machine electric current i being transformed in static two phase coordinatesα、iβ.Rotating coordinate transformation device 12 uses computed position θ ^r, will be quiet
The only rotating electric machine electric current i in two phase coordinatesα、iβThe motor current i being transformed on rotational coordinatesd、iq。
D-q current controller 7 carries out current control, so that by the transformed motor current of rotating coordinate transformation device 12
id、iqBecome the current-order i calculated by current-order arithmetic unit 6d *、iq *, and the voltage instruction on operation rotational coordinates
vd *、vq *.As the current control of d-q current controller 7, proportional plus integral control can be illustrated.Rotational coordinates inverse converter 8 makes
With computed position θ ^r, by the voltage instruction v on the rotational coordinates calculated by d-q current controller 7d *、vq *It is transformed to static two
Voltage instruction v in phase coordinatesα *、vβ *.Two-phase-three-phase inverter 9 is by the voltage instruction v in static two phase coordinatesα *、vβ *Transformation
V is instructed for the driving voltage in three phase coordinates for driving rotating electric machine 1uf *、vvf *、vwf *。
Position estimating is used to speculate the position estimating voltage of the rotor-position of rotating electric machine 1 with 10 operation of voltage generator
Instruct vuh *、vvh *、vwh *.Fig. 2 is to show the position estimating voltage exported from position estimating shown in FIG. 1 with voltage generator
The figure of instruction.In the embodiment 1, as shown in Fig. 2, position estimating voltage instruction vuh *、vvh *、vwh *For pulse-like voltage, In
It is applied separately in this case according to the sequence of u phase, v phase, w phase to each phase.
Adder 13 is by position estimating voltage instruction vuh *、vvh *、vwh *V is instructed with driving voltageuf *、vvf *、vwf *It is added
Obtained from rotating electric machine voltage instruction vu *、vv *、vw *It exports to voltage applicator 3.
Fig. 3 is the figure for showing the structure of position estimating device of embodiments of the present invention 1.Position estimating device 4 has: high frequency
Current draw device 401, amplitude i of the operation as the high-frequency current of position estimating electric currentuh、ivh、iwh；DC component extractor
402, the amplitude i of operation high-frequency currentuh、ivh、iwhAverage value, extract the average value calculated as high-frequency current amplitude
DC component Ihdc；And computed position arithmetic unit 403, utilize the axial rotor-position of the d of rotating electric machine 1 and high-frequency current
The DC component of amplitude it is relational, according to the DC component I of high-frequency current amplitudehdcCarry out operation computed position θ ^r.Hereinafter, having
When by the DC component I of high-frequency current amplitudehdcReferred to as " position operation signal A ".
High-frequency current extractor 401 extracts point changed according to position estimating voltage instruction in rotating electric machine electric current
It measures, i.e. as the high-frequency current i of position estimating electric currentuh’、ivh’、iwh', the amplitude i of further operation high-frequency currentuh、ivh、
iwh.The high-frequency current extractor 401 of embodiment 1 is subtracted by the current value before applying pulse-like voltage applies pulse type electricity
Current value after pressure, to extract high-frequency current i shown in following formula (1)uh’、ivh’、iwh'.In addition, the extraction side of high-frequency current
Method is without being limited thereto, and low-pass filter or high-pass filter also can be used in the extraction of high-frequency current.
[mathematical expression 1]
In the case where position estimating is pulse-like voltage with voltage instruction, the amplitude i of high-frequency currentuh、ivh、iwhSuch as with
Under formula (2) shown in high-frequency current iuh’、ivh’、iwh' roughly equal.
[mathematical expression 2]
But pass through the subtraction process of above-mentioned current value, low-pass filter or high-pass filter, extracted high-frequency electrical
The amplitude of stream also can decay or amplify sometimes, but decay or amplification multiplying power each phase be it is identical, do not have to subsequent position estimating
Have an impact.
Here, the component for not being to rely on rotor-position and changing in the amplitude by high-frequency current is set as " high-frequency electrical
Flow the DC component of amplitude " " Ihdc", the amplitude of the component changed dependent on rotor-position is set as " high-frequency current amplitude
The amplitude of AC compounent " " Ihac", rotor-position is set as " θr" when, such as paragraph [0037] institute of the specification of patent document 2
Show, the component that the amplitude of extracted high-frequency current changes comprising two times of cosine of an angle functions according to rotor-position.Special
In sharp document 2, the rotor-position when d axis of rotating electric machine and u are aligned is set as zero, at this point, the inductance of u phase is maximum, u phase
High-frequency current amplitude be minimum.The amplitude i of the operation high-frequency current as shown in following formula (3) of DC component extractor 402uh、
ivh、iwhAverage value, to extract the DC component I of high-frequency current amplitudehdcThat is position operation signal A.
[mathematical expression 3]
As shown in the paragraph [0059] to paragraph [0070] of the specification of patent document 2, in patent document 2, height is used
The AC compounent of frequency current amplitude speculates rotor-position.The AC compounent of high-frequency current amplitude is known as " position sometimes below
Operation signal B ".As shown in following formula (4), by subtracting from the amplitude of high-frequency current shown in above-mentioned formula (1) and above-mentioned formula (2)
The DC component of high-frequency current amplitude is gone to obtain the AC compounent i of high-frequency current amplitudeuhac、ivhac、iwhac。
[mathematical expression 4]
In position estimating, be divided into centered on the respective zero crossing of position operation signal of three-phase 60 ° of interval electric angle
6 sections.In each section, the part of the zero passage in position operation signal B is about rotor positionrFor sin (2 θr) or sin
(2θr) function, so by these functions carry out linear approximation and according to position operation signal B come operation computed position.
Computed position can carry out anticosine operation by any one signal of the AC compounent of the high-frequency current amplitude to above-mentioned formula (4)
To find out.In addition, computed position carries out after capable of carrying out-two phase inversion of three-phase by the position operation signal B to three phase coordinates
Arctangent cp cp operation is found out.
However, magnetic saturation degree becomes according to the level of torque of rotating electric machine 1 using in saliency position estimating
Change, thus it is speculated that the error of the position and physical location that go out becomes larger.Fig. 4 shows to confirm the saliency of rotating electric machine 1 and its variation,
To have input 50% and 100% torque instruction value T of rated value*When current amplitude be powered under various Conduction angles and
The track of obtained high-frequency current.Fig. 4 is to illustrate that the track of the saliency high-frequency current of rotating electric machine and specific
The figure of the variation of the track of high-frequency current obtained from being powered under Conduction angle.It is shown on the left of Fig. 4 and has input rated value
50% torque instruction value T*When high-frequency current track, 100% torque for having input rated value is shown on the right side of Fig. 4
Instruction value T*When high-frequency current track.The d axis component i of horizontal axis expression high-frequency currentd, the q axis point of longitudinal axis expression high-frequency current
Measure iq.About the current value of axis in length and breadth, 100% turn of rated value will be provided under the conditions of the ratio between torque and electric current are the smallest
The value of square is expressed as 100%.The dq axis point of high-frequency current obtained from being powered under 6 different Conduction angles is shown in Fig. 4
Measure id、iq。
It is being entered such torque instruction value T*When rotating electric machine 1 in, because rotor it is saliency caused by it is high
The amplitude of frequency electric current is substantially big and small in d axis direction in q axis direction.In other words, it is short that the track of high-frequency current, which becomes with d axis,
The ellipse of axis.In the position estimating of the prior art, elliptical short-axis direction is presumed to d axis.Here, the situation big in torque
Lower or rotating electric machine electric current Conduction angle is close in the case where d axis direction, and magnetic saturation degree becomes larger, the d of high-frequency current amplitude
Axis component and q axis component become equal.That is, the track of high-frequency current from ellipse close to positive round, become unable to based on it is saliency come
Carry out position estimating.In turn, in the case where torque is big, magnetic saturation degree increases, oval to d when Conduction angle is close to d axis
Axis direction inclination, it is oval to be tilted to q axis direction when Conduction angle is close to q axis.It is powered here, carrying out operation using computed position
Angle, due to the voltage output error of voltage applicator 3 and the current detecting error of current detector 2 in computed position
Include error.That is, in the case where in computed position including the error of d axis direction, relative to the logical of true rotor-position
Electrical angle is close to d axis direction, as a result, computed position further becomes larger in d axis direction.Similarly, for q axis direction,
The error of computed position also expands.Since presumption error expands like this, become steadily speculate rotor-position to drive
Rotating electric machine 1.
In the embodiment 1, in a manner of being able to carry out position estimating in the case where magnetic saturation degree is big into
Position estimating of the row based on computed position arithmetic unit 403.To rotor-position and the high-frequency current changed dependent on rotor-position
The DC component I of amplitudehdcSummarized and obtains the relationship of Fig. 5.Fig. 5 is the rotor-position and high-frequency electrical for showing rotating electric machine
Flow the figure of the relationship of the DC component of amplitude.The longitudinal axis indicates the DC component of high-frequency current, and horizontal axis indicates rotor-position.With rotation
Rotor-position is indicated with difference therewith on the basis of the d axis of motor 1.The solid line of Fig. 5 is have input rated value 50%
Torque instruction value T*When high-frequency current DC component track.The dotted line of Fig. 5 is 100% torque for having input rated value
Instruction value T*When high-frequency current amplitude DC component track.As can be seen from FIG. 5, on the d axis periphery of rotating electric machine 1, turn
There are one-to-one relationships for the DC component of sub- position and high-frequency current.As a result, d axis periphery shown in Fig. 5 (- 30 °~+
25 °) rotor-position can be uniquely determined according to the DC component of high-frequency current.This is stored in advance in computed position arithmetic unit 403
Relationship, according to the DC component I of the relationship and high-frequency current amplitudehdcCarry out operation computed position θ ^r.In addition, being set as the relationship
Be mapped storage with the range for imagining torque to be used or rotating electric machine electric current.
In the embodiment 1, in utilizing saliency method for controlling position-less sensor, by being used using position estimating
The DC component of the amplitude of electric current, even if can be also used for without increasing in the case where the magnetic saturation degree of rotating electric machine 1 is big
Improve the calculated load of position estimating precision and speculates rotor-position steadily to drive rotating electric machine 1.
Embodiment 2
In the embodiment 1, the drive control of rotating electric machine 1 is carried out on rotational coordinates.Although on rotational coordinates
Control is widely used, and high responsively can carry out drive control to rotating electric machine 1, but in the control on rotational coordinates
Need rotating coordinate transformation and its control operation.In embodiment 2, illustrate when the progress rotating electric machine 1 in three phase coordinates
Structural example when drive control.
Fig. 6 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 2.Embodiment 1
The control device of control device 100 and embodiment 2 100A's the difference lies in that using controller 5A in control device 100A
Rather than controller 5.
Controller 5A has position estimating voltage generator 10, current-order arithmetic unit 21, three-phase current arithmetic unit 22
And three-phase current controller 23.Current-order arithmetic unit 21 uses torque instruction value T*Carry out operation current amplitude instruction Ip *With it is logical
Electrical angle instructs φi *.Current-order arithmetic unit 21 becomes least way fortune with current effective value, that is, copper loss relative to torque
It calculates current amplitude and instructs Ip *φ is instructed with Conduction anglei *.Three-phase current arithmetic unit 22 such as shown in following formula (5), uses supposition position
Set θ ^r, current amplitude instruct Ip *φ is instructed with Conduction anglei *Carry out operation three-phase current instruction iu *、iv *、iw *。
[mathematical expression 5]
Three-phase current controller 23 carries out current control so that rotation in three phase coordinates detected by current detector 2
Rotating motor electric current iu、iv、iwI is instructed as three-phase currentu *、iv *、iw *, the driving voltage in three phase coordinates of union instructs vuf *、
vvf *、vwf *.As the current control in three-phase current controller 23, proportional plus integral control can be illustrated.Adder 13 will be by position
Set the position estimating voltage instruction v that supposition voltage generator 10 calculatesuh *、vvh *、vwh *With by three-phase current controller 23
The driving voltage instruction v calculateduf *、vvf *、vwf *Rotating electric machine voltage instruction v obtained from additionu *、vv *、vw *It is output to electricity
Press applicator 3.
As described above, according to the control device 100A of embodiment 2, even if rotating electric machine ought not be carried out in rotational coordinates
Position when in the case where 1 drive control, being also able to suppress the increase of calculated load, and accurately executing magnetic saturation pushes away
It surveys.
Embodiment 3
In embodiment 1,2, the position estimating voltage instruction v of pulse type is useduh *、vvh *、vwh *.In embodiment 3
In, use polyphase ac voltage as position estimating voltage instruction vuh *、vvh *、vwh *。
Fig. 7 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 3.Embodiment 1
The control device of control device 100 and embodiment 3 100B's the difference lies in that using controller 5B in control device 100B
Rather than controller 5, and use position estimating device 4B rather than position estimating device 4.
Controller 5B has current-order arithmetic unit 6, d-q current controller 7, rotational coordinates inverse converter 8, two-phase-three
Phasing commutator 9, position estimating voltage generator 10B ,-two phasing commutator 11 of three-phase, rotating coordinate transformation device 12 and addition
Device 13.In controller 5B, using position estimating with voltage generator 10B rather than position estimating voltage generator 10.
Shown in position estimating voltage generator 10B such as following formula (6), amplitude V is generatedhpAnd angular frequencyhThe multiphase of t is handed over
Galvanic electricity pressure is position estimating voltage instruction vuh *、vvh *、vwh *。
[mathematical expression 6]
Fig. 8 is the figure for showing the structure of position estimating device of embodiments of the present invention 3.The position estimating of embodiment 1
The position estimating device of device 4 and embodiment 3 4B's the difference lies in that in position estimating device 4B, uses high-frequency current extractor
3001 and high-frequency current amplitude arithmetic unit 3002 rather than high-frequency current extractor 401, using DC component extractor 402B
DC component extractor 402, using computed position arithmetic unit 403B rather than computed position arithmetic unit 403.
High-frequency current extractor 3001 such as shown in following formula (7), uses notch filter to extract as position estimating electricity consumption
The high-frequency current i of streamuh’、ivh’、iwh'.High-frequency current iuh’、ivh’、iwh' extracting method it is without being limited thereto, high-frequency current mentions
Also low-pass filter or high-pass filter can be used in taking.The high-frequency current i extracteduh’、ivh’、iwh' such as patent document 2
Specification paragraph [0037] shown in, and in the same manner as above-mentioned formula (1), include two times of cosine of an angles according to rotor-position
Function and the component changed.
[mathematical expression 7]
As shown in above-mentioned formula (7), high-frequency current iuh’、ivh’、iwh' amplitude include rotor-position information.High-frequency current
The paragraph [0049] of such as specification of patent document 2 of amplitude arithmetic unit 3002 is to paragraph [0051] shown in, and such as following formula (8)
High-frequency current i that is shown, being extracted by operation by high-frequency current extractor 3001uh’、ivh’、iwh' integrated square value and ask
The amplitude i of high-frequency current outuh、ivh、iwh.The COEFFICIENT K of following formula (8)hIt is to rely on the multiplying power of integrating range.Therefore, the high frequency
The amplitude of electric current is actually to true amplitude multiplied by value obtained from the multiplying power, but since the multiplying power of each phase is identical, so
Subsequent position estimating is not influenced.In addition, if integrating range is selected as the integer of the half period of position estimating voltage
Times, then can always the flutter component of the square value of smooth high frequencies electric current and obtain the amplitude of high-frequency current.In addition, can also make
With low-pass filter rather than integrate.
[mathematical expression 8]
DC component extractor 402B and DC component extractor 402 likewise by operation high-frequency current amplitude it is each
The average value of phase, thus the DC component K of operation high-frequency current amplitudeh·Ihdc.Height is stored in advance in computed position arithmetic unit 403B
The DC component K of frequency current amplitudeh·IhdcWith the relationship of rotor-position, divided according to the direct current of the relationship and high-frequency current amplitude
Measure Kh·IhdcCarry out operation computed position θ ^r。
As described above, with successively apply pulse-like voltage to each phase embodiment 1 and embodiment 2 like that each interdependent
The case where secondary application pulse voltage, is compared, embodiment 3 can to it is each identical when be applied continuously in position estimating voltage and company
Position estimating is carried out continuously, therefore being able to respond property speculates rotor-position well.In addition, being illustrated in embodiment 3
In three phase coordinates be superimposed polyphase ac voltage structural example, but the control device 100B of embodiment 3 be also configured to make it is more
Phase alternating current laminated is added to the voltage instruction v in static two phase coordinatesα *、vβ *, rotating electric machine electric current from static two phase coordinates
iα、iβMiddle extraction high-frequency current carries out position estimating.
Embodiment 4
In embodiment 1,2,3, needs to be stored in advance the DC component of high-frequency current amplitude in position estimating and turn
The relationship of sub- position.Illustrate the structural example for reducing the information content that should be stored for position estimating in embodiment 4.
Fig. 9 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 4.Embodiment 3
The control device of control device 100B and embodiment 4 100C's the difference lies in that being pushed away in control device 100C using position
Survey device 4C rather than position estimating device 4B.
Figure 10 is the figure for showing the structure of position estimating device of embodiment 4.The position estimating device 4B and reality of embodiment 3
The position estimating device 4C's the difference lies in that in position estimating device 4C for applying mode 4, in addition to high-frequency current extractor 3001, high
Except frequency current amplitude arithmetic unit 3002 and DC component extractor 402B, it is also equipped with phase current amplitude arithmetic unit 4001 and direct current
Component target value arithmetic device 4002, and use computed position arithmetic unit 403C rather than computed position arithmetic unit 403B.
Phase current amplitude arithmetic unit 4001 is by following formula (9) come the phase current amplitude I of operation rotating electric machine 1p.As phase
Current amplitude IpOperation method, can use rotating electric machine electric current iu、iv、iwPeak value or absolute value, can also combine certainly
Low-pass filter.
[mathematical expression 9]
As in the first embodiment described like that, if presetting rotating electric machine electric current relative to the logical of rotor-position
Electrical angle, then can be on the d axis periphery of rotating electric machine 1 for the torque instruction value T as phase current amplitude*Uniquely determine phase
For the DC component of the high-frequency current amplitude of rotor-position.Therefore, DC component target value arithmetic device 4002 is stored in advance directly
The relationship of flow component target value and phase current amplitude, and utilize relationship output DC component target value Ip'.In addition, be set as by
The relationship is mapped storage with the range for imagining torque to be used, i.e. rotating electric machine electric current.Computed position arithmetic unit 403C
Integration control is carried out so that the DC component of high-frequency current amplitude becomes DC component target value Ip', thus operation computed position θ
^r.Model- following control to target value is either proportional plus integral control, is also possible to PID control parameter.
As described above, the letter that should be stored for position estimating can be reduced in the position estimating device 4C of embodiment 4
Breath amount inhibits the increase of calculated load, and accurately executes position estimating when magnetic saturation.
Embodiment 5
In embodiment 1,2,3,4, illustrate to speculate using the DC component of high-frequency current amplitude come enforcing location
Structural example.But in the case where the magnetic saturation degree of rotating electric machine 1 is small, previous position estimating method can be utilized.In reality
It applies in mode 5, illustrate to switch previous position estimating method according to magnetic saturation degree and the straight of high-frequency current amplitude is utilized
The structural example of the position estimating method of flow component.
Figure 11 is the figure for showing the structure of the control device of rotating electric machine of embodiments of the present invention 5.Embodiment 3
The control device of control device 100B and embodiment 5 100D's the difference lies in that being pushed away in control device 100D using position
Survey device 4D rather than position estimating device 4B.
Figure 12 is the figure for showing the structure of position estimating device of embodiments of the present invention 5.The position estimating of embodiment 3
The position estimating device of device 4B and embodiment 5 4D's the difference lies in that in position estimating device 4D, in addition to high-frequency current extractor
3001, it except high-frequency current amplitude arithmetic unit 3002, DC component extractor 402B and computed position arithmetic unit 403B, is also equipped with
Phase current amplitude arithmetic unit 4001, subtracter 5000, computed position arithmetic unit 5001 and computed position switch 5002.
Subtracter 5000 passes through the amplitude i from high-frequency currentuh、ivh、iwhIn subtract the DC component of high-frequency current amplitude
Kh·IhdcThe AC compounent for carrying out operation high-frequency current amplitude, by the exchange point for the high-frequency current amplitude that subtracter 5000 calculates
Amount is input into computed position arithmetic unit 5001.Then, thus it is speculated that the utilization of position arithmetic unit 5001 illustrated in the embodiment 1
Previous position estimating method carrys out operation computed position θ ^rac.In previous position estimating method, although can not be in magnetic saturation
When be accurately proceed position estimating, but can be it is not necessary that the information about rotor-position be stored in advance and carries out position estimating.
Computed position switch 5002 selects the DC component and rotor-position of high-frequency current amplitude according to the pre-stored data
Relationship and the computed position θ ^ that calculatesrdcOr the computed position θ ^ deduced with previous position estimating methodrac, as
Computed position θ ^rAnd it exports.In the switching of the computed position in computed position switch 5002, phase current amplitude I is utilizedp。
In phase current amplitude IpValue be less than in computed position switch 5002 in the case where the threshold value that sets, thus it is speculated that position
Switch 5002 is determined as that magnetic saturation degree is small, selects computed position θ ^racAs computed position θ ^rAnd it exports.It shakes in phase current
Width IpValue be in computed position switch 5002 it is more than the threshold value that sets in the case where, thus it is speculated that position switch 5002 is determined as
Magnetic saturation degree is big, selects computed position θ ^rdcAs computed position θ ^rAnd it exports.It is full that threshold value is set to 1 magnetic of rotating electric machine
The value of sum.Therefore, it in the case where magnetic saturation degree is small, does not need that the information about rotor-position is stored in advance, so can
Inhibit the information content that should be stored for position estimating.In the case where magnetic saturation degree is big, by utilizing high-frequency current amplitude
DC component, can steadily speculate rotor-position.In addition, in the switching of computed position, in addition to phase current amplitude IpWith
Outside, torque instruction value T can also be utilized*, additionally it is possible to utilize the signal for determining magnetic saturation degree.
It, can due in the case where magnetic saturation degree is small as described above, in the position estimating device 4D of embodiment 5
Using the position estimating based on the previous position estimating method for not needing to be stored in advance the information about rotor-position, therefore not
It needs to read rotor-position to carry out position estimating operation, the effect of position estimating operation high speed can be obtained.
Each function that control device 100,100A, 100B, 100C, 100D of embodiment 1 to 5 have is able to use place
Circuit is managed to realize.Each function refers to current detector 2, voltage applicator 3, position estimating device 4,4B, 4C, 4D and controller
5,5A,5B.Figure 13 is the first hardware configuration example for showing the control device of the rotating electric machine of embodiments of the present invention 1 to 5
Figure.Figure 14 is the figure for showing the second hardware configuration example of control device of the rotating electric machine of embodiments of the present invention 1 to 5.Figure
The specialized hardware as dedicated processes circuit 60 is shown in 13 to realize the example of above-mentioned processing circuit.It is shown in Figure 14
The example of above-mentioned processing circuit is realized by processor 61 and storage device 62.
As shown in figure 13, using specialized hardware, dedicated processes circuit 60 is equivalent to single circuit, compound electric
Road, the processor of sequencing, the processor of concurrent program, ASIC, FPGA or their combination.Above-mentioned each function can be distinguished
It is realized, can also be realized by processing circuit together by processing circuit.
As shown in figure 14, using processor 61 and storage device 62, above-mentioned each function is respectively by software, solid
Part or their combination are realized.Software or firmware are described as program, and are stored in storage device 62.Processor 61 is read simultaneously
Execute the program for being stored in storage device 62.In addition it is also possible to say that these programs make computer execute above-mentioned each function and respectively hold
Capable step and method.Storage device 62 is equivalent to RAM (Random Access Memory, random access memory), ROM
(Read Only Memory, read-only memory), flash memory, EPROM (Erasable Programmable Read Only
Memory, Erasable Programmable Read Only Memory EPROM) or EEPROM (Electrically Erasable Programmable
Read Only Memory, electrically erasable programmable read-only memory) semiconductor memory as (registered trademark).Semiconductor
Memory can be nonvolatile memory, be also possible to volatile memory.In addition, storage device 62 is partly led in addition to being equivalent to
Other than body memory, disk, floppy disk, CD, compact disk, mini disk or DVD (Digital Versatile are also corresponded to
Disc, digital versatile disc).
In addition, above-mentioned each function respectively can be a part of by hardware realization, a part is realized by software or firmware.As tool
Body example realizes its function using specialized hardware for current detector 2 and voltage applicator 3, and for position estimating device 4,
4B, 4C, 4D and controller 5,5A, 5B, its function is realized using processor 61 and storage device 62.
In addition, rotating electric machine 1 is illustrated as synchronous reluctance motor in embodiment 1,2,3,4,5, but
Control device 100,100B, 100C, 100D of embodiment 1 to 5 can also be suitable for insertion magnet type syncmotor or surface
This rotating electric machine 1 of magnet type syncmotor has saliency motor.
In addition, speculating rotor-position according to the DC component of high-frequency current amplitude in embodiment 1 to 5, but having
When keep the size of position estimating voltage instruction variable to improve the precision of position estimating and reduce the noise of position estimating.
In this case, it is clear that the ratio between above-mentioned DC component and position estimating voltage instruction, the direct current of such as inductance can be utilized
Component etc. replaces the DC component of high-frequency current amplitude.
In addition, illustrating controller 5,5A, 5B of control device 100,100B, 100C, 100D in embodiment 1 to 5
The example of torque is controlled, but controller 5,5A, 5B can be also set as to the structure of control revolving speed.In addition, in embodiment 1 to 5
In, the current-order relative to torque of rotating electric machine 1 is selected as making current effective value i.e. copper loss to become minimum, but can also be with
Become least way to control device 100,100B, 100C, 100D with the loss of interlinkage flux or rotating electric machine 1 to set
It is fixed.In addition, illustrating that current detector 2 detects the structural example of the phase current of rotating electric machine 1, but control in embodiment 1 to 5
As long as device 100 processed, 100B, 100C, 100D are able to detect phase current, also can be set to such as flowering structure: by being built in
The current sensor as voltage application portion of inverter detects the phase current of rotating electric machine 1.
Structure shown in above embodiment shows an example of the contents of the present invention, also can be with other well known skill
Art combines, additionally it is possible to omit, change a part of structure without departing from the spirit and scope of the invention.
Claims (10)
1. a kind of control device of rotating electric machine, which is characterized in that have:
Current detector detects the rotating electric machine electric current flowed through in the rotating electric machine；
Position estimating device speculates the rotor-position of the rotating electric machine based on the rotating electric machine electric current；
Controller, the information based on the rotating electric machine electric current and the rotor-position is come operation for driving the rotating electric machine
Driving voltage instruction, and export rotating electric machine voltage instruction, which is that will be used to speculate the rotor
Obtained from the position estimating voltage instruction of each phase of the rotating electric machine of position is added with driving voltage instruction；With
And
Voltage applicator applies voltage to the rotating electric machine based on the rotating electric machine voltage instruction,
The position estimating device extract it is including in the rotating electric machine electric current, change because of the position estimating voltage instruction
Position estimating electric current, according to not changing because of rotor-position in the amplitude of the position estimating electric current extracted
DC component speculates the rotor-position of the rotating electric machine.
2. the control device of rotating electric machine according to claim 1, which is characterized in that the DC component is the position
Speculate the average value of each phase of the amplitude with electric current.
3. the control device of rotating electric machine according to claim 1 or 2, which is characterized in that the position estimating voltage
Instruction is to apply the instruction of pulse-like voltage respectively to each phase.
4. the control device of rotating electric machine according to claim 1 or 2, which is characterized in that the position estimating voltage
Instruction is polyphase ac voltage.
5. the control device of rotating electric machine according to claim 4, which is characterized in that the position estimating device passes through described
The integral of the square value of position estimating electric current is come the amplitude of position estimating electric current described in operation.
6. the control device of rotating electric machine according to claim 5, which is characterized in that the section of the integral is institute's rheme
Set the integral multiple of the half period of supposition voltage instruction.
7. the control device of rotating electric machine described according to claim 1~any one of 6, which is characterized in that the position
The relationship of the device DC component according to the pre-stored data and the rotor-position is speculated to carry out position estimating.
8. the control device of rotating electric machine described according to claim 1~any one of 6, which is characterized in that the position
Speculate that device carries out position estimating in a manner of making the DC component become pre-stored DC component target value.
9. the control device of rotating electric machine described according to claim 1~any one of 8, which is characterized in that the control
The rotating electric machine current control is the magnetically saturated value of rotating electric machine by device.
10. the control device of rotating electric machine described according to claim 1~any one of 8, which is characterized in that in the rotation
In the case that the amplitude of rotating motor electric current is less than the threshold value for being set to the magnetically saturated value of the rotating electric machine, the position estimating
Device carries out position estimating, according to the AC compounent changed by rotor-position in the amplitude of position estimating electric current
In the case that the rotating electric machine electric current is the threshold value or more, the position estimating device is according to the position estimating electric current
The DC component not changed by rotor-position in amplitude carries out position estimating.
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| JP2017-061584 | 2017-03-27 | ||
| JP2017061584 | 2017-03-27 | ||
| PCT/JP2017/045564 WO2018179620A1 (en) | 2017-03-27 | 2017-12-19 | Rotating electric machine control device |
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| CN110431741A true CN110431741A (en) | 2019-11-08 |
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| US (1) | US11515821B2 (en) |
| JP (1) | JP6749472B2 (en) |
| CN (1) | CN110431741B (en) |
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| DE112019006688T5 (en) * | 2019-01-18 | 2021-10-07 | Mitsubishi Electric Corporation | CONTROL DEVICE FOR A ROTATING ELECTRIC MACHINE |
| CN115208262A (en) | 2021-04-08 | 2022-10-18 | 台达电子工业股份有限公司 | Motor control device and motor control method |
| TWI774315B (en) * | 2021-04-08 | 2022-08-11 | 台達電子工業股份有限公司 | Motor control device and motor control method |
| JPWO2024013900A1 (en) * | 2022-07-13 | 2024-01-18 |
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| JP6749472B2 (en) | 2020-09-02 |
| DE112017007328T5 (en) | 2019-12-12 |
| WO2018179620A1 (en) | 2018-10-04 |
| JPWO2018179620A1 (en) | 2019-07-11 |
| CN110431741B (en) | 2023-07-04 |
| US11515821B2 (en) | 2022-11-29 |
| US20200186070A1 (en) | 2020-06-11 |
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